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    <ul>
      <li>Intro/Motivation
	<ul>
          <li>Design objectives overview.</li>
	</ul>
      </li>
      
      <li>Hybrid Modeling
	<ul>
          <li>Hybrid Systems background</li>
          <li>Robotic model studied</li>
	</ul>
      </li>

      <li>Human-Inspired Trajectory Design
	<ul>
          <li>Human experiment</li>
          <li>Canonical walking functions</li>
          <li></li>
	</ul>
      </li>

      <li>Controller Design
        <ul>
          <li>
        </ul>
      </li>

      <li>Systems Analysis
        <ul>
          <li>Open loop controller characteristics</li>
          <li>Open loop system characteristics</li>
          <li>Closed loop system characteristics</li>
        </ul>
      </li>
      
      <li>Simulation Results
        <ul>
          <li>Novelty of results</li>
          <li>Videos of walking</li>
        </ul>
      </li>
      
      <li>Future Research
	<ul>
	  <li>Implementation</li>
          <li>Application to prosthetics</li>
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